I'm not completely dairy free but I limit it due to issues with lactose. Lite soy milk is the same in points as trim milk, the lite licks dairy free icecream is AWESOME (I like the Hokey Pokey one the best)...
If you haven't had soy before, it is an acquired taste but I got used to it by starting off with porridge and now I find regular milk a little weird tasting.
I find I make most things myself anyway, i.e. don't go with packaged foods and although it's sometimes a pain to work out the points per serve, it gives you heaps more control over what you're eating. If you want any specific advice there are heaps of people on the online WW message boards (they are free, you don't have to sign up online) or PM me if you need to know the points of anything and I'll try and help!